Abstract: With the strategic expansion of mineral development into deeper earth, disaster risks have escalated due to high ground stress and complex burial environments. Consequently, establishing a robust emergency rescue system is urgent, where communication serves as a critical "lifeline" for ensuring rescue efficiency and survivor safety. Underground Magnetic Induction (MI) communication is pivotal for such post-disaster scenarios, offering superior penetration, interference immunity, and low power consumption. Addressing the challenges where magnetic transmission in complex media exhibits non-stationary and dispersive characteristics, this thesis investigates channel modeling, physical layer techniques, and antenna design. The goal is to enhance the transmission distance and data rate for robust emergency communication. Specifically, the study first characterizes primary and secondary magnetic field distributions to propose a high-precision channel model for heterogeneous media. Furthermore, we develop flexible coding constructions integrating channel characteristics and designs Chirp-based modulation schemes. In addition, a magnetic antenna utilizing parasitic structures is proposed to achieve energy focusing via beamforming. These technical innovations significantly improve underground communication performance. Finally, experimental results from both field and mine environments are presented to validate the effectiveness of the proposed methods.